private void InitializeSkeletonPoses()
{
// Create a list of the bone/joint names of a Kinect skeleton.
int numberOfJoints = Enum.GetNames(typeof(JointType)).Length;
var boneNames = new string[numberOfJoints];
for (int i = 0; i < numberOfJoints; i++)
{
boneNames[i] = ((JointType)i).ToString();
}
// Create list with one entry per bone. Each entry is the index of the parent bone.
var boneParents = new[]
{
-1,
(int)JointType.HipCenter,
(int)JointType.Spine,
(int)JointType.ShoulderCenter,
(int)JointType.ShoulderCenter,
(int)JointType.ShoulderLeft,
(int)JointType.ElbowLeft,
(int)JointType.WristLeft,
(int)JointType.ShoulderCenter,
(int)JointType.ShoulderRight,
(int)JointType.ElbowRight,
(int)JointType.WristRight,
(int)JointType.HipCenter,
(int)JointType.HipLeft,
(int)JointType.KneeLeft,
(int)JointType.AnkleLeft,
(int)JointType.HipCenter,
(int)JointType.HipRight,
(int)JointType.KneeRight,
(int)JointType.AnkleRight,
};
// Create a list of the bind pose transformations of all bones. Since we do not
// get such information from Kinect, we position all bones in the local origin.
var boneBindPoses = new SrtTransform[numberOfJoints];
for (int i = 0; i < numberOfJoints; i++)
{
boneBindPoses[i] = SrtTransform.Identity;
}
// Create a skeleton that defines the bone hierarchy and rest pose.
var skeleton = new DRSkeleton(boneParents, boneNames, boneBindPoses);
// Create a SkeletonPose for each player.
SkeletonPoseA = SkeletonPose.Create(skeleton);
SkeletonPoseB = SkeletonPose.Create(skeleton);
}
private static OutlineItem CreateOutlineItem(Skeleton skeleton, int boneIndex)
{
var item = new OutlineItem
{
Text = $"Bone {boneIndex} \"{skeleton.GetName(boneIndex)}\"",
Icon = MultiColorGlyphs.Bone,
Children = new OutlineItemCollection(),
UserData = boneIndex,
};
for (int bone = 0; bone < skeleton.NumberOfBones; bone++)
if (skeleton.GetParent(bone) == boneIndex)
item.Children.Add(CreateOutlineItem(skeleton, bone));
return item;
}
private static OutlineItem CreateOutlineItem(Skeleton skeleton)
{
var item = new OutlineItem
{
Text = $"Skeleton \"{skeleton.Name}\"",
Icon = MultiColorGlyphs.Skeleton,
IsExpanded = false,
Children = new OutlineItemCollection(),
UserData = skeleton,
};
for (int bone = 0; bone < skeleton.NumberOfBones; bone++)
if (skeleton.GetParent(bone) == -1)
item.Children.Add(CreateOutlineItem(skeleton, bone));
return item;
}
/// <summary>
/// Extracts all animations and stores them in a dictionary of timelines.
/// </summary>
private Dictionary<string, SkeletonKeyFrameAnimation> ProcessAnimations(AnimationContentDictionary animationContentDictionary, Skeleton skeleton, ContentProcessorContext context)
{
var animations = new Dictionary<string, SkeletonKeyFrameAnimation>();
foreach (var item in animationContentDictionary)
{
string animationName = item.Key;
AnimationContent animationContent = item.Value;
// Convert the AnimationContent to a SkeletonKeyFrameAnimation.
SkeletonKeyFrameAnimation skeletonAnimation = ProcessAnimation(animationContent, skeleton, context);
animations.Add(animationName, skeletonAnimation);
}
if (animations.Count == 0)
context.Logger.LogWarning(null, null, "Skinned model does not contain any animations.");
return animations;
}
/// <summary>
/// Converts an AnimationContent to a SkeletonKeyFrameAnimation.
/// </summary>
private SkeletonKeyFrameAnimation ProcessAnimation(AnimationContent animationContent, Skeleton skeleton, ContentProcessorContext context)
{
var animation = new SkeletonKeyFrameAnimation { EnableInterpolation = true };
// Process all animation channels (each channel animates a bone).
int numberOfKeyFrames = 0;
foreach (var item in animationContent.Channels)
{
string channelName = item.Key;
AnimationChannel channel = item.Value;
int boneIndex = skeleton.GetIndex(channelName);
if (boneIndex == -1)
{
var message = string.Format("Found animation for bone '{0}', which is not part of the skeleton.", channelName);
throw new InvalidContentException(message, animationContent.Identity);
}
var bindPoseRelativeInverse = skeleton.GetBindPoseRelative(boneIndex).Inverse;
foreach (AnimationKeyframe keyframe in channel)
{
TimeSpan time = keyframe.Time;
SrtTransform transform = SrtTransform.FromMatrix(keyframe.Transform);
// The matrix in the key frame is the transformation in the coordinate space of the
// parent bone. --> Convert it to a transformation relative to the animated bone.
transform = bindPoseRelativeInverse * transform;
// To start with minimal numerical errors, we normalize the rotation quaternion.
transform.Rotation.Normalize();
animation.AddKeyFrame(boneIndex, time, transform);
numberOfKeyFrames++;
}
}
if (numberOfKeyFrames == 0)
throw new InvalidContentException("Animation has no keyframes.", animationContent.Identity);
// Compress animation to safe memory.
float removedKeyFrames = animation.Compress(
CompressionScaleThreshold,
CompressionRotationThreshold,
CompressionTranslationThreshold);
if (removedKeyFrames > 0)
context.Logger.LogImportantMessage("{0}: Compression removed {1:P} of all key frames.",
animationContent.Name,
removedKeyFrames);
// Finalize the animation. (Optimizes the animation data for fast runtime access.)
animation.Freeze();
return animation;
}
/// <summary>
/// Creates a <see cref="Ragdoll"/> for an Xbox LIVE Avatar. (Only available on Xbox 360.)
/// </summary>
/// <param name="skeleton">The skeleton of the Xbox LIVE Avatar.</param>
/// <param name="simulation">The simulation.</param>
/// <returns>The avatar ragdoll.</returns>
/// <exception cref="ArgumentNullException">
/// <paramref name="skeleton"/> or <paramref name="simulation"/> is
/// <see langword="null"/>.
/// </exception>
/// <remarks>
/// This method is available only in the Xbox 360 build of the
/// DigitalRune.Physics.Specialized.dll.
/// </remarks>
public static Ragdoll CreateAvatarRagdoll(Skeleton skeleton, Simulation simulation)
{
if (skeleton == null)
throw new ArgumentNullException("skeleton");
if (simulation == null)
throw new ArgumentNullException("simulation");
var ragdoll = new Ragdoll();
// The lists ragdoll.Bodies, ragdoll.BodyOffsets and _motors contain one entry per bone - even if there
// is no RigidBody for this bone. - This wastes memory but simplifies the code.
for (int i = 0; i < AvatarRenderer.BoneCount; i++)
{
ragdoll.Bodies.Add(null);
ragdoll.BodyOffsets.Add(Pose.Identity);
ragdoll.Joints.Add(null);
ragdoll.Limits.Add(null);
ragdoll.Motors.Add(null);
}
// ----- Create bodies.
// We use the same mass for all bodies. This is not physically correct but it makes the
// simulation more stable, for several reasons:
// - It is better to avoid large mass differences. Therefore, all limbs have the same mass.
// - Capsule shapes have a low inertia value about their height axis. This causes instability
// and it is better to use larger inertia values.
var massFrame = MassFrame.FromShapeAndMass(new SphereShape(0.2f), Vector3F.One, 4, 0.1f, 1);
// Use standard material.
var material = new UniformMaterial();
// Create rigid bodies for the important bones. The shapes have been manually adapted to
// produce useful results for thin and overweight avatars.
// Without offset, the bodies are centered at the joint. ragdoll.BodyOffsets stores an offset pose
// for each body. Instead, we could use TransformedShape but we can easily handle that
// ourselves.
// The collar bones are special, they use dummy shapes and are only used to connect the
// shoulder bones.
ragdoll.Bodies[(int)AvatarBone.Root] = new RigidBody(new BoxShape(0.22f, 0.16f, 0.16f), massFrame, material);
ragdoll.BodyOffsets[(int)AvatarBone.Root] = new Pose(new Vector3F(0, -0.08f, -0.01f), QuaternionF.CreateRotationX(-0.0f));
ragdoll.Bodies[(int)AvatarBone.BackLower] = new RigidBody(new BoxShape(0.22f, 0.16f, 0.16f), massFrame, material);
ragdoll.BodyOffsets[(int)AvatarBone.BackLower] = new Pose(new Vector3F(0, 0.08f, -0.01f), QuaternionF.CreateRotationX(-0.0f));
ragdoll.Bodies[(int)AvatarBone.BackUpper] = new RigidBody(new BoxShape(0.22f, 0.16f, 0.16f), massFrame, material);
ragdoll.BodyOffsets[(int)AvatarBone.BackUpper] = new Pose(new Vector3F(0, 0.08f, -0.01f), QuaternionF.CreateRotationX(-0.1f));
ragdoll.Bodies[(int)AvatarBone.Neck] = new RigidBody(new CapsuleShape(0.04f, 0.09f), massFrame, material);
ragdoll.Bodies[(int)AvatarBone.Head] = new RigidBody(new SphereShape(0.15f), massFrame, material);
ragdoll.BodyOffsets[(int)AvatarBone.Head] = new Pose(new Vector3F(0, 0.1f, 0));
ragdoll.Bodies[(int)AvatarBone.CollarLeft] = new RigidBody(Shape.Empty, massFrame, material);
ragdoll.Bodies[(int)AvatarBone.CollarRight] = new RigidBody(Shape.Empty, massFrame, material);
ragdoll.Bodies[(int)AvatarBone.ShoulderLeft] = new RigidBody(new CapsuleShape(0.04f, 0.25f), massFrame, material);
ragdoll.BodyOffsets[(int)AvatarBone.ShoulderLeft] = new Pose(new Vector3F(0.08f, 0, -0.02f), QuaternionF.CreateRotationZ(ConstantsF.PiOver2));
ragdoll.Bodies[(int)AvatarBone.ShoulderRight] = new RigidBody(new CapsuleShape(0.04f, 0.25f), massFrame, material);
ragdoll.BodyOffsets[(int)AvatarBone.ShoulderRight] = new Pose(new Vector3F(-0.08f, 0, -0.02f), QuaternionF.CreateRotationZ(ConstantsF.PiOver2));
ragdoll.Bodies[(int)AvatarBone.ElbowLeft] = new RigidBody(new CapsuleShape(0.04f, 0.21f), massFrame, material);
ragdoll.BodyOffsets[(int)AvatarBone.ElbowLeft] = new Pose(new Vector3F(0.06f, 0, -0.02f), QuaternionF.CreateRotationZ(ConstantsF.PiOver2));
ragdoll.Bodies[(int)AvatarBone.ElbowRight] = new RigidBody(new CapsuleShape(0.04f , 0.21f), massFrame, material);
ragdoll.BodyOffsets[(int)AvatarBone.ElbowRight] = new Pose(new Vector3F(-0.06f, 0, -0.02f), QuaternionF.CreateRotationZ(ConstantsF.PiOver2));
ragdoll.Bodies[(int)AvatarBone.WristLeft] = new RigidBody(new BoxShape(0.1f, 0.04f, 0.1f), massFrame, material);
ragdoll.BodyOffsets[(int)AvatarBone.WristLeft] = new Pose(new Vector3F(0.06f, -0.02f, -0.01f), QuaternionF.CreateRotationZ(0.0f));
ragdoll.Bodies[(int)AvatarBone.WristRight] = new RigidBody(new BoxShape(0.1f, 0.04f, 0.1f), massFrame, material);
ragdoll.BodyOffsets[(int)AvatarBone.WristRight] = new Pose(new Vector3F(-0.06f, -0.02f, -0.01f), QuaternionF.CreateRotationZ(0.0f));
ragdoll.Bodies[(int)AvatarBone.HipLeft] = new RigidBody(new CapsuleShape(0.06f, 0.34f), massFrame, material);
ragdoll.BodyOffsets[(int)AvatarBone.HipLeft] = new Pose(new Vector3F(0, -0.14f, -0.02f), QuaternionF.CreateRotationX(0.1f));
ragdoll.Bodies[(int)AvatarBone.HipRight] = new RigidBody(new CapsuleShape(0.06f, 0.34f), massFrame, material);
ragdoll.BodyOffsets[(int)AvatarBone.HipRight] = new Pose(new Vector3F(0, -0.14f, -0.02f), QuaternionF.CreateRotationX(0.1f));
ragdoll.Bodies[(int)AvatarBone.KneeLeft] = new RigidBody(new CapsuleShape(0.06f, 0.36f), massFrame, material);
ragdoll.BodyOffsets[(int)AvatarBone.KneeLeft] = new Pose(new Vector3F(0, -0.18f, -0.04f), QuaternionF.CreateRotationX(0.1f));
ragdoll.Bodies[(int)AvatarBone.KneeRight] = new RigidBody(new CapsuleShape(0.06f, 0.36f), massFrame, material);
ragdoll.BodyOffsets[(int)AvatarBone.KneeRight] = new Pose(new Vector3F(0, -0.18f, -0.04f), QuaternionF.CreateRotationX(0.1f));
ragdoll.Bodies[(int)AvatarBone.AnkleLeft] = new RigidBody(new BoxShape(0.1f, 0.06f, 0.22f), massFrame, material);
ragdoll.BodyOffsets[(int)AvatarBone.AnkleLeft] = new Pose(new Vector3F(0, -0.07f, 0.05f), QuaternionF.CreateRotationZ(0));
ragdoll.Bodies[(int)AvatarBone.AnkleRight] = new RigidBody(new BoxShape(0.1f, 0.06f, 0.22f), massFrame, material);
ragdoll.BodyOffsets[(int)AvatarBone.AnkleRight] = new Pose(new Vector3F(0, -0.07f, 0.05f), QuaternionF.CreateRotationZ(0));
// ----- Add joint constraints.
const float jointErrorReduction = 0.2f;
const float jointSoftness = 0.0001f;
AddJoint(ragdoll, skeleton, AvatarBone.Root, AvatarBone.BackLower, jointErrorReduction, jointSoftness);
AddJoint(ragdoll, skeleton, AvatarBone.BackLower, AvatarBone.BackUpper, jointErrorReduction, jointSoftness);
AddJoint(ragdoll, skeleton, AvatarBone.BackUpper, AvatarBone.Neck, 0.6f, 0.000001f);
AddJoint(ragdoll, skeleton, AvatarBone.Neck, AvatarBone.Head, 0.6f, 0.000001f);
AddJoint(ragdoll, skeleton, AvatarBone.BackUpper, AvatarBone.CollarLeft, jointErrorReduction, jointSoftness);
AddJoint(ragdoll, skeleton, AvatarBone.BackUpper, AvatarBone.CollarRight, jointErrorReduction, jointSoftness);
AddJoint(ragdoll, skeleton, AvatarBone.CollarLeft, AvatarBone.ShoulderLeft, jointErrorReduction, jointSoftness);
AddJoint(ragdoll, skeleton, AvatarBone.CollarRight, AvatarBone.ShoulderRight, jointErrorReduction, jointSoftness);
AddJoint(ragdoll, skeleton, AvatarBone.ShoulderLeft, AvatarBone.ElbowLeft, jointErrorReduction, jointSoftness);
AddJoint(ragdoll, skeleton, AvatarBone.ShoulderRight, AvatarBone.ElbowRight, jointErrorReduction, jointSoftness);
AddJoint(ragdoll, skeleton, AvatarBone.ElbowLeft, AvatarBone.WristLeft, jointErrorReduction, jointSoftness);
AddJoint(ragdoll, skeleton, AvatarBone.ElbowRight, AvatarBone.WristRight, jointErrorReduction, jointSoftness);
AddJoint(ragdoll, skeleton, AvatarBone.Root, AvatarBone.HipLeft, jointErrorReduction, jointSoftness);
AddJoint(ragdoll, skeleton, AvatarBone.Root, AvatarBone.HipRight, jointErrorReduction, jointSoftness);
AddJoint(ragdoll, skeleton, AvatarBone.HipLeft, AvatarBone.KneeLeft, jointErrorReduction, jointSoftness);
AddJoint(ragdoll, skeleton, AvatarBone.HipRight, AvatarBone.KneeRight, jointErrorReduction, jointSoftness);
AddJoint(ragdoll, skeleton, AvatarBone.KneeLeft, AvatarBone.AnkleLeft, jointErrorReduction, jointSoftness);
AddJoint(ragdoll, skeleton, AvatarBone.KneeRight, AvatarBone.AnkleRight, jointErrorReduction, jointSoftness);
// ----- Add constraint limits.
// We use TwistSwingLimits to define an allowed twist and swing cone for the joints.
// Exceptions are the back and knees, where we use AngularLimits to create hinges.
// (We could also create a hinge with a TwistSwingLimit where the twist axis is the hinge
// axis and no swing is allowed - but AngularLimits create more stable hinges.)
// Another exception are the collar bones joint. We use AngularLimits to disallow any
// rotations.
AddAngularLimit(ragdoll, skeleton, AvatarBone.Root, AvatarBone.BackLower,
skeleton.GetBindPoseAbsoluteInverse((int)AvatarBone.BackLower).Rotation.Conjugated.ToRotationMatrix33(),
skeleton.GetBindPoseAbsoluteInverse((int)AvatarBone.BackLower).Rotation.Conjugated.ToRotationMatrix33(),
new Vector3F(-0.3f, 0, 0), new Vector3F(0.3f, 0, 0));
AddAngularLimit(ragdoll, skeleton, AvatarBone.BackLower, AvatarBone.BackUpper,
skeleton.GetBindPoseAbsoluteInverse((int)AvatarBone.BackUpper).Rotation.Conjugated.ToRotationMatrix33(),
skeleton.GetBindPoseAbsoluteInverse((int)AvatarBone.BackUpper).Rotation.Conjugated.ToRotationMatrix33(),
new Vector3F(-0.3f, 0, 0), new Vector3F(0.4f, 0, 0));
var rotationZ90Degrees = Matrix33F.CreateRotationZ(ConstantsF.PiOver2);
AddTwistSwingLimit(ragdoll, skeleton, AvatarBone.BackUpper, AvatarBone.Neck, rotationZ90Degrees, rotationZ90Degrees, new Vector3F(-0.1f, -0.3f, -0.3f), new Vector3F(+0.1f, +0.3f, +0.3f));
AddTwistSwingLimit(ragdoll, skeleton, AvatarBone.Neck, AvatarBone.Head, rotationZ90Degrees, rotationZ90Degrees, new Vector3F(-0.1f, -0.6f, -0.6f), new Vector3F(+0.1f, +0.6f, +0.6f));
AddTwistSwingLimit(ragdoll, skeleton, AvatarBone.BackUpper, AvatarBone.CollarLeft,
skeleton.GetBindPoseAbsoluteInverse((int)AvatarBone.CollarLeft).Rotation.Conjugated.ToRotationMatrix33(),
skeleton.GetBindPoseAbsoluteInverse((int)AvatarBone.CollarLeft).Rotation.Conjugated.ToRotationMatrix33(),
new Vector3F(0), new Vector3F(0));
AddTwistSwingLimit(ragdoll, skeleton, AvatarBone.BackUpper, AvatarBone.CollarRight,
skeleton.GetBindPoseAbsoluteInverse((int)AvatarBone.CollarRight).Rotation.Conjugated.ToRotationMatrix33(),
skeleton.GetBindPoseAbsoluteInverse((int)AvatarBone.CollarRight).Rotation.Conjugated.ToRotationMatrix33(),
new Vector3F(0), new Vector3F(0));
AddTwistSwingLimit(ragdoll, skeleton, AvatarBone.CollarLeft, AvatarBone.ShoulderLeft, Matrix33F.Identity, Matrix33F.CreateRotationY(0.7f), new Vector3F(-0.7f, -1.2f, -1.2f), new Vector3F(+0.7f, +1.2f, +1.2f));
AddTwistSwingLimit(ragdoll, skeleton, AvatarBone.CollarRight, AvatarBone.ShoulderRight, Matrix33F.Identity, Matrix33F.CreateRotationY(-0.7f), new Vector3F(-0.7f, -1.2f, -1.2f), new Vector3F(+0.7f, +1.2f, +1.2f));
AddTwistSwingLimit(ragdoll, skeleton, AvatarBone.ShoulderLeft, AvatarBone.ElbowLeft, Matrix33F.Identity, Matrix33F.CreateRotationY(1.2f), new Vector3F(-0.7f, -1.2f, -1.2f), new Vector3F(+0.7f, +1.2f, +1.2f));
AddTwistSwingLimit(ragdoll, skeleton, AvatarBone.ShoulderRight, AvatarBone.ElbowRight, Matrix33F.Identity, Matrix33F.CreateRotationY(-1.2f), new Vector3F(-0.7f, -1.2f, -1.2f), new Vector3F(+0.7f, +1.2f, +1.2f));
AddTwistSwingLimit(ragdoll, skeleton, AvatarBone.ElbowLeft, AvatarBone.WristLeft, Matrix33F.Identity, Matrix33F.Identity, new Vector3F(-0.7f, -0.7f, -0.7f), new Vector3F(+0.7f, +0.7f, +0.7f));
AddTwistSwingLimit(ragdoll, skeleton, AvatarBone.ElbowRight, AvatarBone.WristRight, Matrix33F.Identity, Matrix33F.Identity, new Vector3F(-0.7f, -0.7f, -0.7f), new Vector3F(+0.7f, +0.7f, +0.7f));
AddTwistSwingLimit(ragdoll, skeleton, AvatarBone.Root, AvatarBone.HipLeft, rotationZ90Degrees, Matrix33F.CreateRotationX(-1.2f) * Matrix33F.CreateRotationZ(ConstantsF.PiOver2 + 0.2f), new Vector3F(-0.1f, -1.5f, -0.7f), new Vector3F(+0.1f, +1.5f, +0.7f));
AddTwistSwingLimit(ragdoll, skeleton, AvatarBone.Root, AvatarBone.HipRight, rotationZ90Degrees, Matrix33F.CreateRotationX(-1.2f) * Matrix33F.CreateRotationZ(ConstantsF.PiOver2 - 0.2f), new Vector3F(-0.1f, -1.5f, -0.7f), new Vector3F(+0.1f, +1.5f, +0.7f));
AddAngularLimit(ragdoll, skeleton, AvatarBone.HipLeft, AvatarBone.KneeLeft,
skeleton.GetBindPoseAbsoluteInverse((int)AvatarBone.KneeLeft).Rotation.Conjugated.ToRotationMatrix33(),
skeleton.GetBindPoseAbsoluteInverse((int)AvatarBone.KneeLeft).Rotation.Conjugated.ToRotationMatrix33(),
new Vector3F(0, 0, 0), new Vector3F(2.2f, 0, 0));
AddAngularLimit(ragdoll, skeleton, AvatarBone.HipRight, AvatarBone.KneeRight,
skeleton.GetBindPoseAbsoluteInverse((int)AvatarBone.KneeRight).Rotation.Conjugated.ToRotationMatrix33(),
skeleton.GetBindPoseAbsoluteInverse((int)AvatarBone.KneeRight).Rotation.Conjugated.ToRotationMatrix33(),
new Vector3F(0, 0, 0), new Vector3F(2.2f, 0, 0));
AddTwistSwingLimit(ragdoll, skeleton, AvatarBone.KneeLeft, AvatarBone.AnkleLeft, rotationZ90Degrees, rotationZ90Degrees, new Vector3F(-0.1f, -0.7f, -0.3f), new Vector3F(+0.1f, +0.7f, +0.3f));
AddTwistSwingLimit(ragdoll, skeleton, AvatarBone.KneeRight, AvatarBone.AnkleRight, rotationZ90Degrees, rotationZ90Degrees, new Vector3F(-0.1f, -0.7f, -0.3f), new Vector3F(+0.1f, +0.7f, +0.3f));
// ----- Add motors
// We use QuaternionMotors to create forces that rotate the bones into desired poses.
// This can be used for damping, spring or animating the ragdoll.
AddMotor(ragdoll, (AvatarBone)(-1), AvatarBone.Root);
AddMotor(ragdoll, AvatarBone.Root, AvatarBone.BackLower);
AddMotor(ragdoll, AvatarBone.BackLower, AvatarBone.BackUpper);
AddMotor(ragdoll, AvatarBone.BackUpper, AvatarBone.Neck);
AddMotor(ragdoll, AvatarBone.Neck, AvatarBone.Head);
AddMotor(ragdoll, AvatarBone.BackUpper, AvatarBone.CollarLeft);
AddMotor(ragdoll, AvatarBone.BackUpper, AvatarBone.CollarRight);
AddMotor(ragdoll, AvatarBone.CollarLeft, AvatarBone.ShoulderLeft);
AddMotor(ragdoll, AvatarBone.CollarRight, AvatarBone.ShoulderRight);
AddMotor(ragdoll, AvatarBone.ShoulderLeft, AvatarBone.ElbowLeft);
AddMotor(ragdoll, AvatarBone.ShoulderRight, AvatarBone.ElbowRight);
AddMotor(ragdoll, AvatarBone.ElbowLeft, AvatarBone.WristLeft);
AddMotor(ragdoll, AvatarBone.ElbowRight, AvatarBone.WristRight);
AddMotor(ragdoll, AvatarBone.Root, AvatarBone.HipLeft);
AddMotor(ragdoll, AvatarBone.Root, AvatarBone.HipRight);
AddMotor(ragdoll, AvatarBone.HipLeft, AvatarBone.KneeLeft);
AddMotor(ragdoll, AvatarBone.HipRight, AvatarBone.KneeRight);
AddMotor(ragdoll, AvatarBone.KneeLeft, AvatarBone.AnkleLeft);
AddMotor(ragdoll, AvatarBone.KneeRight, AvatarBone.AnkleRight);
// ----- Set collision filters.
// Collisions between connected bones have been disabled with Constraint.CollisionEnabled
// = false in the joints. We need to disable a few other collisions.
// Following bodies do not collide with anything. They are only used to connect other
// bones.
ragdoll.Bodies[(int)AvatarBone.Neck].CollisionObject.Enabled = false;
ragdoll.Bodies[(int)AvatarBone.CollarLeft].CollisionObject.Enabled = false;
ragdoll.Bodies[(int)AvatarBone.CollarRight].CollisionObject.Enabled = false;
// We disable filters for following body pairs because they are usually penetrating each
// other, which needs to be ignored.
var filter = simulation.CollisionDomain.CollisionDetection.CollisionFilter as CollisionFilter;
if (filter != null)
{
filter.Set(ragdoll.Bodies[(int)AvatarBone.BackUpper].CollisionObject, ragdoll.Bodies[(int)AvatarBone.ShoulderLeft].CollisionObject, false);
filter.Set(ragdoll.Bodies[(int)AvatarBone.BackUpper].CollisionObject, ragdoll.Bodies[(int)AvatarBone.ShoulderRight].CollisionObject, false);
}
return ragdoll;
}
private static void AddTwistSwingLimit(Ragdoll ragdoll, Skeleton skeleton, AvatarBone parentBone, AvatarBone childBone, Matrix33F orientationA, Matrix33F orientationB, Vector3F minimum, Vector3F maximum)
{
int parentIndex = (int)parentBone;
int childIndex = (int)childBone;
// The difficult part is to define the constraint anchor orientation.
// Here is how we do it:
// When we look at the front side of an Avatar in bind pose, the x-axis is parallel
// to the arms. y points up and z is normal to the those axes.
//
// To define orientationA/B:
// The anchor x-axis is the twist axis. That means, this is already the correct axis
// for the hands (wrist joints) and orientationA/B are therefore Matrix33F.Identity.
// For the Head, the twist axis must point up. Therefore orientationA/B must be a 90°
// rotation about z to rotate the twist axis up.
// For the shoulder-elbow connection, orientationA is Matrix.Identity. The swing cone must
// not be parallel to the arm axis (because the elbow cannot bend backwards). Therefore,
// orientationB defines a rotation that rotates the twist axis (= swing cone center) to the
// front.
//
// To define AnchorOrientationALocal/AnchorOrientationBLocal:
// AnchorOrientationALocal must be a rotation matrix that transforms a vector from local
// constraint anchor space to local body space of A.
// orientationA defines the constraint anchor orientation in model space.
// With jointPosesAbsolute[boneAIndex].Orientation.Transposed, we convert from model space
// to joint space. With ragdoll.BodyOffsets[boneAIndex].Orientation.Transposed, we convert from joint
// space to body space. The combined rotation matrix converts from constraint anchor space
// to body space.
var limit = new TwistSwingLimit
{
BodyA = ragdoll.Bodies[parentIndex],
BodyB = ragdoll.Bodies[childIndex],
AnchorOrientationALocal = ragdoll.BodyOffsets[parentIndex].Orientation.Transposed * skeleton.GetBindPoseAbsoluteInverse(parentIndex).Rotation.ToRotationMatrix33() * orientationA,
AnchorOrientationBLocal = ragdoll.BodyOffsets[childIndex].Orientation.Transposed * skeleton.GetBindPoseAbsoluteInverse(childIndex).Rotation.ToRotationMatrix33() * orientationB,
Minimum = minimum,
Maximum = maximum,
ErrorReduction = 0.2f,
Softness = 0.001f
};
ragdoll.Limits[childIndex] = limit;
}
private static void AddJoint(Ragdoll ragdoll, Skeleton skeleton, AvatarBone parentBone, AvatarBone childBone, float errorReduction, float softness)
{
int parentIndex = (int)parentBone;
int childIndex = (int)childBone;
// To define AnchorPositionALocal/AnchorPositionBLocal:
// To get the AnchorPositionALocal we apply jointPosesAbsolute[indexA].Inverse to
// convert the joint pose from model space into the joints space of parentBone. Then we apply
// ragdoll.BodyOffsets[boneAIndex].Inverse to convert from joint space to body space. The result is
// the joint position of B in body space of A.
// To get AnchorPositionBLocal, we only have to apply the inverse offset.
BallJoint joint = new BallJoint
{
BodyA = ragdoll.Bodies[parentIndex],
BodyB = ragdoll.Bodies[childIndex],
CollisionEnabled = false,
AnchorPositionALocal = (ragdoll.BodyOffsets[parentIndex].Inverse * skeleton.GetBindPoseAbsoluteInverse(parentIndex) * skeleton.GetBindPoseAbsoluteInverse(childIndex).Inverse).Translation,
AnchorPositionBLocal = ragdoll.BodyOffsets[childIndex].Inverse.Position,
ErrorReduction = errorReduction,
Softness = softness,
};
ragdoll.Joints[childIndex] = joint;
}
private static void AddAngularLimit(Ragdoll ragdoll, Skeleton skeleton, AvatarBone parentBone, AvatarBone childBone, Matrix33F orientationA, Matrix33F orientationB, Vector3F minimum, Vector3F maximum)
{
// Similar to AddTwistSwingLimit
int parentIndex = (int)parentBone;
int childIndex = (int)childBone;
var limit = new AngularLimit
{
BodyA = ragdoll.Bodies[parentIndex],
BodyB = ragdoll.Bodies[childIndex],
AnchorOrientationALocal = ragdoll.BodyOffsets[parentIndex].Orientation.Transposed * skeleton.GetBindPoseAbsoluteInverse(parentIndex).Rotation.ToRotationMatrix33() * orientationA,
AnchorOrientationBLocal = ragdoll.BodyOffsets[childIndex].Orientation.Transposed * skeleton.GetBindPoseAbsoluteInverse(childIndex).Rotation.ToRotationMatrix33() * orientationB,
Minimum = minimum,
Maximum = maximum,
ErrorReduction = new Vector3F(0.2f),
Softness = new Vector3F(0.001f)
};
ragdoll.Limits[childIndex] = limit;
}
private void InitializeSkeletonPoses()
{
// Create a list of the bone/joint names of a Kinect skeleton.
int numberOfJoints = Enum.GetNames(typeof(JointType)).Length;
var boneNames = new string[numberOfJoints];
for (int i = 0; i < numberOfJoints; i++)
boneNames[i] = ((JointType)i).ToString();
// Create list with one entry per bone. Each entry is the index of the parent bone.
var boneParents = new[]
{
-1,
(int)JointType.HipCenter,
(int)JointType.Spine,
(int)JointType.ShoulderCenter,
(int)JointType.ShoulderCenter,
(int)JointType.ShoulderLeft,
(int)JointType.ElbowLeft,
(int)JointType.WristLeft,
(int)JointType.ShoulderCenter,
(int)JointType.ShoulderRight,
(int)JointType.ElbowRight,
(int)JointType.WristRight,
(int)JointType.HipCenter,
(int)JointType.HipLeft,
(int)JointType.KneeLeft,
(int)JointType.AnkleLeft,
(int)JointType.HipCenter,
(int)JointType.HipRight,
(int)JointType.KneeRight,
(int)JointType.AnkleRight,
};
// Create a list of the bind pose transformations of all bones. Since we do not
// get such information from Kinect, we position all bones in the local origin.
var boneBindPoses = new SrtTransform[numberOfJoints];
for (int i = 0; i < numberOfJoints; i++)
boneBindPoses[i] = SrtTransform.Identity;
// Create a skeleton that defines the bone hierarchy and rest pose.
var skeleton = new DRSkeleton(boneParents, boneNames, boneBindPoses);
// Create a SkeletonPose for each player.
SkeletonPoseA = SkeletonPose.Create(skeleton);
SkeletonPoseB = SkeletonPose.Create(skeleton);
}
private void BuildSkeleton()
{
// Get an array of all bones in depth-first order.
// (Same as MeshHelper.FlattenSkeleton(root).)
var bones = TreeHelper.GetSubtree(_rootBone, n => n.Children.OfType<BoneContent>(), true)
.ToList();
// Create list of parent indices, bind pose transformations and bone names.
var boneParents = new List<int>();
var bindTransforms = new List<SrtTransform>();
var boneNames = new List<string>();
int numberOfWarnings = 0;
foreach (var bone in bones)
{
int parentIndex = bones.IndexOf(bone.Parent as BoneContent);
boneParents.Add(parentIndex);
// Log warning for invalid transform matrices - but not too many warnings.
if (numberOfWarnings < 2)
{
if (!SrtTransform.IsValid((Matrix44F)bone.Transform))
{
if (numberOfWarnings < 1)
_context.Logger.LogWarning(null, _input.Identity, "Bone transform is not supported. Bone transform matrices may only contain scaling, rotation and translation.");
else
_context.Logger.LogWarning(null, _input.Identity, "More unsupported bone transform found.");
numberOfWarnings++;
}
}
bindTransforms.Add(SrtTransform.FromMatrix(bone.Transform));
if (boneNames.Contains(bone.Name))
{
string message = String.Format(CultureInfo.InvariantCulture, "Duplicate bone name (\"{0}\") found.", bone.Name);
throw new InvalidContentException(message, _input.Identity);
}
boneNames.Add(bone.Name);
}
// Create and return a new skeleton instance.
_skeleton = new Skeleton(boneParents, boneNames, bindTransforms);
}
